Hi,
I’m trying to build an application where via ROS2 Topics a Target point is transmitted to IsaacSIM where the trajectory planing should take place.
The relevant code looks as follows:
import rclpy
...
node = rclpy.create_node("simNode")
When building the node the following error occurs:
Traceback (most recent call last):
File "/home/isy/workspace/src/ISY-Project_UR5e/ur_isaacsim/ur_isaacsim.py", line 70, in <module>
simNode = rclpy.create_node("SimNode")
File "/opt/ros/foxy/lib/python3.8/site-packages/rclpy/__init__.py", line 140, in create_node
from rclpy.node import Node # noqa: F811
File "/opt/ros/foxy/lib/python3.8/site-packages/rclpy/node.py", line 42, in <module>
from rclpy.client import Client
File "/opt/ros/foxy/lib/python3.8/site-packages/rclpy/client.py", line 22, in <module>
from rclpy.impl.implementation_singleton import rclpy_implementation as _rclpy
File "/opt/ros/foxy/lib/python3.8/site-packages/rclpy/impl/implementation_singleton.py", line 31, in <module>
rclpy_implementation = _import('._rclpy')
File "/opt/ros/foxy/lib/python3.8/site-packages/rclpy/impl/__init__.py", line 28, in _import
return importlib.import_module(name, package='rclpy')
File "/home/isy/.local/share/ov/pkg/isaac_sim-2022.1.1/kit/python/lib/python3.7/importlib/__init__.py", line 127, in import_module
return _bootstrap._gcd_import(name[level:], package, level)
ModuleNotFoundError: No module named 'rclpy._rclpy'
The C extension '/opt/ros/foxy/lib/python3.8/site-packages/rclpy/_rclpy.cpython-37m-x86_64-linux-gnu.so' isn't present on the system. Please refer to 'https://index.ros.org/doc/ros2/Troubleshooting/Installation-Troubleshooting/#import-failing-without-library-present-on-the-system' for possible solutions
So far I’ve tried to rebuild the ros2_workspace but even that couldn’t be done successfully.
The following error occurs:
Starting >>> carter_description
Starting >>> carter_navigation
Starting >>> isaac_moveit
Starting >>> isaac_ros2_messages
Starting >>> isaac_ros_navigation_goal
Starting >>> isaac_tutorials
/home/isy/.local/lib/python3.8/site-packages/setuptools/dist.py:771: UserWarning: Usage of dash-separated 'script-dir' will not be supported in future versions. Please use the underscore name 'script_dir' instead
warnings.warn(
/home/isy/.local/lib/python3.8/site-packages/setuptools/dist.py:771: UserWarning: Usage of dash-separated 'install-scripts' will not be supported in future versions. Please use the underscore name 'install_scripts' instead
warnings.warn(
--- stderr: isaac_ros2_messages
make[2]: *** No rule to make target '/opt/ros/foxy/lib/libfastrtps.so.2.1.1', needed by 'libisaac_ros2_messages__rosidl_typesupport_fastrtps_cpp.so'. Stop.
make[1]: *** [CMakeFiles/Makefile2:358: CMakeFiles/isaac_ros2_messages__rosidl_typesupport_fastrtps_cpp.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
make: *** [Makefile:141: all] Error 2
---
Failed <<< isaac_ros2_messages [0.37s, exited with code 2]
Aborted <<< carter_navigation [0.39s]
Aborted <<< isaac_moveit [0.38s]
Aborted <<< carter_description [0.41s]
Aborted <<< isaac_tutorials [0.35s]
Aborted <<< isaac_ros_navigation_goal [0.75s
This seems odd to me because I thought that ROS2 is build correctly due to a working ROS2 Bridge and publishing Topics via an ActionGraph which is build with the script.
Any suggestions how to fix this error?
Many thanks in advance!